Controls multiple Rhino servo motors https://www.active-robots.com/dc-servo-motor-10rpm-uart-12c-ppm-drive.html
Set each motor to have a unique address (Incrementing 0-127) using its build-in UART command. Then connect all motors to the Arduino's i2c bus.
Set the number of motors at the top of the INO file.
Control this program over your Arduino's UART Serial connection.
Read a value with [Motor number 0-127],[Command] e.g. 0,R which would return e.g. 3642.
Write a value with [Motor number 0-127],[Command],[value] e.g. 0,S,-200 which would return the set value e.g. -200.
In the case of any error, you will instead receive reponse E. You can see more detailed debugging information by setting debugMode = DEBUG_ON at the top of the file.
All of these messages are/need to be appended with a \n newline character.
| Command | Description |
|---|---|
| S | Read/Write Motor Speed and Direction |
| M | Read/Write Motor Max Speed |
| D | Read/Write Speed Damping |
| P | Read/Write Encoder Position |
| G | Read/Write Go to Position Command |
| R | Write Relative Go to Position Command |
| A | Read/Write Speed-Feedback Gain term |
| B | Read/Write P-Gain term |
| C | Read/Write I-Gain term |